pybind ground align api separately (#59)

PRBonn · Feb 4, 2025 · ee51bec · ee51bec
1 parent d696406
commit ee51bec
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Showing 2 changed files with 10 additions and 0 deletions.
diff --git a/python/map_closures/map_closures.py b/python/map_closures/map_closures.py
@@ -55,3 +55,10 @@ def get_closures(self, query_idx: int, local_map: np.ndarray) -> List[ClosureCan
 
     def get_density_map_from_id(self, map_id: int) -> np.ndarray:
         return self._pipeline._getDensityMapFromId(map_id)
+
+
+def align_map_to_local_ground(pointcloud, resolution):
+    return map_closures_pybind._align_map_to_local_ground(
+        map_closures_pybind._Vector3dVector(pointcloud),
+        resolution,
+    )
diff --git a/python/map_closures/pybind/map_closures_pybind.cpp b/python/map_closures/pybind/map_closures_pybind.cpp
@@ -34,6 +34,7 @@
 #include <tuple>
 #include <vector>
 
+#include "map_closures/GroundAlign.hpp"
 #include "map_closures/MapClosures.hpp"
 #include "stl_vector_eigen.h"
 
@@ -80,5 +81,7 @@ PYBIND11_MODULE(map_closures_pybind, m) {
         .def("_GetBestClosure", &MapClosures::GetBestClosure, "query_id"_a, "local_map"_a)
         .def("_GetTopKClosures", &MapClosures::GetTopKClosures, "query_id"_a, "local_map"_a, "k"_a)
         .def("_GetClosures", &MapClosures::GetClosures, "query_id"_a, "local_map"_a);
+
+    m.def("_align_map_to_local_ground", &AlignToLocalGround, "pointcloud"_a, "resolution"_a);
 }
 }  // namespace map_closures